Dead-code cleanup + tests for fusion/depth/OSM/training/fingerprinting
Reviewer point #11 (PR #405): remove the `#![allow(dead_code)]`
silencing added in 8eb808d and fix the underlying issues.
- Delete csi.rs: duplicate of csi_pipeline.rs with incompatible wire
format (JSON vs ADR-018 binary). csi_pipeline is the real path.
- Delete serial_csi.rs: never referenced by any module.
- Drop Frame.timestamp_ms (unread), AppState.csi_pipeline (unread),
brain_bridge::brain_available (caller-less), fusion::fetch_wifi_occupancy
(caller-less) — these had no runtime users.
- Drop crate-level #![allow(dead_code)] from camera.rs, depth.rs,
fusion.rs, pointcloud.rs.
Tests (target: 8-12, actual: 15 unit + 9 geo unit + 8 geo integration
= 32 total, all pass):
- parser.rs: 5 tests (v1/v6 magic roundtrip, wrong magic, truncated
header, truncated payload).
- fusion.rs: 2 tests (non-overlapping merge, voxel dedup).
- depth.rs: 2 tests (2x2 backproject → 4 points at z=1, NaN rejected).
- training.rs: 4 tests (rejects `..`, accepts relative child, refuses
TrainingSession::new("../etc/passwd"), accepts a clean tmpdir).
- csi_pipeline.rs: 2 tests (set_light_level toggles is_dark,
record_fingerprint stores and self-identifies).
- osm.rs: 3 tests (parse_overpass_json minimal fixture, rejects
malformed payload, fetch_buildings rejects > MAX_RADIUS_M).
Co-Authored-By: claude-flow <ruv@ruv.net>
This commit is contained in:
ruv
parent
d2b2cbfc69
commit
3225eee5be
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@ -166,3 +166,51 @@ fn parse_roads(data: &serde_json::Value) -> Result<Vec<OsmFeature>> {
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Ok(roads)
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Ok(roads)
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}
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}
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#[cfg(test)]
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mod tests {
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use super::*;
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#[test]
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fn parse_overpass_json_accepts_minimal_fixture() {
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// Minimal fixture: three nodes forming a triangular building.
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let j = serde_json::json!({
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"elements": [
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{ "type": "node", "id": 1, "lat": 43.0, "lon": -79.0 },
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{ "type": "node", "id": 2, "lat": 43.0001, "lon": -79.0 },
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{ "type": "node", "id": 3, "lat": 43.0, "lon": -79.0001 },
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{
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"type": "way", "id": 100,
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"nodes": [1, 2, 3, 1],
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"tags": { "building": "yes", "name": "Test Hall" }
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}
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]
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});
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let features = parse_overpass_json(&j).expect("minimal payload should parse");
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assert_eq!(features.len(), 1);
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match &features[0] {
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OsmFeature::Building { outline, name, .. } => {
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assert_eq!(outline.len(), 4);
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assert_eq!(name.as_deref(), Some("Test Hall"));
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}
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_ => panic!("expected a Building"),
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}
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}
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#[test]
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fn parse_overpass_json_rejects_malformed() {
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// Missing the `elements` array entirely.
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let j = serde_json::json!({ "version": 0.6 });
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assert!(parse_overpass_json(&j).is_err());
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// Not even an object.
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let arr = serde_json::json!([1, 2, 3]);
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assert!(parse_overpass_json(&arr).is_err());
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}
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#[tokio::test]
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async fn fetch_buildings_rejects_oversized_radius() {
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let center = GeoPoint { lat: 43.0, lon: -79.0, alt: 0.0 };
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let err = fetch_buildings(¢er, MAX_RADIUS_M + 1.0).await.err();
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assert!(err.is_some(), "should reject radius > MAX_RADIUS_M");
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}
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}
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@ -90,20 +90,3 @@ pub async fn sync_to_brain(pipeline: &PipelineOutput, camera_frames: u64) {
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}
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}
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}
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}
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/// Check if brain is reachable.
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pub async fn brain_available() -> bool {
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// Must .await directly — calling `Handle::current().block_on(...)` from
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// inside an async fn panics with "Cannot start a runtime from within a
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// runtime" because a worker thread is already driving a runtime.
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let Ok(client) = reqwest::Client::builder()
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.timeout(std::time::Duration::from_secs(2))
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.build()
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else {
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return false;
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};
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client
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.get(format!("{}/health", brain_url()))
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.send()
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.await
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.is_ok()
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}
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@ -1,5 +1,4 @@
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//! Camera capture — cross-platform frame grabber.
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//! Camera capture — cross-platform frame grabber.
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#![allow(dead_code)]
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//!
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//!
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//! macOS: uses `screencapture` or `ffmpeg -f avfoundation` for camera frames
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//! macOS: uses `screencapture` or `ffmpeg -f avfoundation` for camera frames
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//! Linux: uses `v4l2-ctl` or `ffmpeg -f v4l2` for camera frames
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//! Linux: uses `v4l2-ctl` or `ffmpeg -f v4l2` for camera frames
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@ -14,7 +13,6 @@ pub struct Frame {
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pub width: u32,
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pub width: u32,
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pub height: u32,
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pub height: u32,
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pub rgb: Vec<u8>, // row-major [height * width * 3]
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pub rgb: Vec<u8>, // row-major [height * width * 3]
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pub timestamp_ms: i64,
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}
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}
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/// Camera source configuration.
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/// Camera source configuration.
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@ -96,7 +94,6 @@ fn capture_ffmpeg(config: &CameraConfig, tmp: &PathBuf) -> Result<Frame> {
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width: config.width,
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width: config.width,
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height: config.height,
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height: config.height,
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rgb: rgb[..expected].to_vec(),
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rgb: rgb[..expected].to_vec(),
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timestamp_ms: chrono::Utc::now().timestamp_millis(),
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})
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})
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}
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}
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@ -170,7 +167,6 @@ fn decode_jpeg_to_rgb(path: &PathBuf, _width: u32, _height: u32) -> Result<Frame
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width: _width,
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width: _width,
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height: _height,
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height: _height,
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rgb: data,
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rgb: data,
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timestamp_ms: chrono::Utc::now().timestamp_millis(),
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})
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})
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}
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}
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@ -1,189 +0,0 @@
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//! WiFi CSI receiver — ingests CSI frames from ESP32 nodes.
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//!
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//! ESP32 nodes send CSI data via UDP. This module receives the frames,
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//! runs RF tomography, and produces OccupancyVolume for fusion.
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//!
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//! Protocol:
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//! ESP32 → serial → host (ruvzen) → UDP broadcast → this receiver
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//! Each packet: JSON with {mac, rssi, csi_data: [i8], timestamp_ms}
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use crate::fusion::OccupancyVolume;
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use anyhow::Result;
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use serde::{Deserialize, Serialize};
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use std::net::UdpSocket;
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use std::sync::{Arc, Mutex};
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use std::collections::VecDeque;
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/// Raw CSI frame from an ESP32 node.
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#[derive(Debug, Clone, Serialize, Deserialize)]
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pub struct CsiFrame {
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pub mac: String,
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pub rssi: i8,
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pub timestamp_ms: i64,
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pub channel: u8,
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pub bandwidth: u8,
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/// CSI subcarrier amplitudes (typically 52-114 values)
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pub csi_data: Vec<i8>,
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/// Optional: secondary stream (imaginary part)
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#[serde(default)]
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pub csi_imag: Vec<i8>,
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}
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/// CSI link — a pair of TX/RX nodes with accumulated frames.
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#[derive(Debug)]
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pub struct CsiLink {
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pub tx_mac: String,
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pub rx_mac: String,
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pub frames: VecDeque<CsiFrame>,
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pub attenuation: f64, // current estimated attenuation
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}
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/// CSI receiver — listens on UDP and accumulates frames.
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pub struct CsiReceiver {
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pub links: Arc<Mutex<Vec<CsiLink>>>,
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pub frame_count: Arc<Mutex<u64>>,
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bind_addr: String,
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}
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impl CsiReceiver {
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pub fn new(bind_addr: &str) -> Self {
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Self {
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links: Arc::new(Mutex::new(Vec::new())),
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frame_count: Arc::new(Mutex::new(0)),
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bind_addr: bind_addr.to_string(),
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}
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}
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/// Start receiving CSI frames in a background thread.
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pub fn start(&self) -> Result<()> {
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let socket = UdpSocket::bind(&self.bind_addr)?;
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socket.set_read_timeout(Some(std::time::Duration::from_secs(1)))?;
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eprintln!(" CSI receiver listening on {}", self.bind_addr);
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let links = self.links.clone();
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let count = self.frame_count.clone();
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std::thread::spawn(move || {
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let mut buf = [0u8; 4096];
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loop {
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match socket.recv_from(&mut buf) {
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Ok((n, _addr)) => {
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if let Ok(frame) = serde_json::from_slice::<CsiFrame>(&buf[..n]) {
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process_frame(&links, &count, frame);
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}
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}
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Err(e) if e.kind() == std::io::ErrorKind::WouldBlock => continue,
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Err(_) => continue,
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}
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}
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});
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Ok(())
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}
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/// Get the current occupancy volume from accumulated CSI data.
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pub fn get_occupancy(&self) -> OccupancyVolume {
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let links = self.links.lock().unwrap();
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if links.is_empty() {
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return crate::fusion::demo_occupancy();
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}
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// Extract per-link attenuations for tomography
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let attenuations: Vec<f64> = links.iter().map(|l| l.attenuation).collect();
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let _n_links = attenuations.len();
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// Simple grid-based tomography (ISTA solver would go here)
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let nx = 8;
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let ny = 8;
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let nz = 4;
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let total = nx * ny * nz;
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let mut densities = vec![0.0f64; total];
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// For each link, distribute attenuation along the line between TX and RX
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// This is a simplified backprojection — real tomography uses ISTA L1 solver
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for (_i, atten) in attenuations.iter().enumerate() {
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// Distribute attenuation uniformly across voxels
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// (in production, use link geometry for proper ray tracing)
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let contribution = atten / total as f64;
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for d in &mut densities {
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*d += contribution;
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}
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}
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// Normalize
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let max = densities.iter().cloned().fold(0.0f64, f64::max);
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if max > 0.0 {
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for d in &mut densities { *d /= max; }
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}
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let occupied_count = densities.iter().filter(|&&d| d > 0.3).count();
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OccupancyVolume {
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densities,
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nx, ny, nz,
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bounds: [0.0, 0.0, 0.0, 5.0, 5.0, 3.0],
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occupied_count,
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}
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}
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pub fn frame_count(&self) -> u64 {
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*self.frame_count.lock().unwrap()
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}
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}
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fn process_frame(
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links: &Arc<Mutex<Vec<CsiLink>>>,
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count: &Arc<Mutex<u64>>,
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frame: CsiFrame,
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) {
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// Calculate attenuation from RSSI + CSI amplitude
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let csi_power: f64 = frame.csi_data.iter()
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.map(|&v| (v as f64).powi(2))
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.sum::<f64>() / frame.csi_data.len().max(1) as f64;
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let attenuation = -(frame.rssi as f64) + csi_power.sqrt() * 0.1;
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let mut links = links.lock().unwrap();
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// Find or create link for this MAC
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let link = links.iter_mut().find(|l| l.tx_mac == frame.mac);
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if let Some(link) = link {
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link.attenuation = link.attenuation * 0.9 + attenuation * 0.1; // EMA
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link.frames.push_back(frame);
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if link.frames.len() > 100 { link.frames.pop_front(); }
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} else {
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let mut frames = VecDeque::new();
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frames.push_back(frame.clone());
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links.push(CsiLink {
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tx_mac: frame.mac,
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rx_mac: "receiver".to_string(),
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frames,
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attenuation,
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});
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}
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*count.lock().unwrap() += 1;
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}
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/// Send CSI frames via UDP (for testing — simulates ESP32 nodes).
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pub fn send_test_frames(target: &str, count: usize) -> Result<()> {
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let socket = UdpSocket::bind("0.0.0.0:0")?;
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for i in 0..count {
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let frame = CsiFrame {
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mac: format!("AA:BB:CC:DD:EE:{:02X}", i % 4),
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rssi: -40 - (i % 30) as i8,
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timestamp_ms: chrono::Utc::now().timestamp_millis(),
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channel: 6,
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bandwidth: 20,
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csi_data: (0..56).map(|j| ((i + j) % 128) as i8 - 64).collect(),
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csi_imag: Vec::new(),
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};
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let json = serde_json::to_vec(&frame)?;
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socket.send_to(&json, target)?;
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std::thread::sleep(std::time::Duration::from_millis(10));
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}
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Ok(())
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}
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@ -210,6 +210,46 @@ pub fn demo_depth_cloud() -> PointCloud {
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backproject_depth(&depth, &scaled_intrinsics, None, 1)
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backproject_depth(&depth, &scaled_intrinsics, None, 1)
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}
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}
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#[cfg(test)]
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mod tests {
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use super::*;
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|
|
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#[test]
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fn backproject_2x2_depth_yields_four_points() {
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// 2x2 image, depth=1m everywhere; trivial intrinsics.
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let intr = CameraIntrinsics {
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fx: 1.0, fy: 1.0, cx: 0.5, cy: 0.5,
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width: 2, height: 2,
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};
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let depth = vec![1.0f32; 4];
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let cloud = backproject_depth(&depth, &intr, None, 1);
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assert_eq!(cloud.points.len(), 4, "2x2 depth → 4 backprojected points");
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// Every point should be at z=1.0.
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for p in &cloud.points {
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assert!((p.z - 1.0).abs() < 1e-6, "z should be 1.0, got {}", p.z);
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}
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// With cx=0.5, cy=0.5 the four pixel centers backproject symmetrically
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// about the optical axis: x in {-0.5, 0.5}, y in {-0.5, 0.5}.
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let mut xs: Vec<f32> = cloud.points.iter().map(|p| p.x).collect();
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xs.sort_by(|a, b| a.partial_cmp(b).unwrap());
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assert!((xs[0] + 0.5).abs() < 1e-6);
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assert!((xs.last().unwrap() - 0.5).abs() < 1e-6);
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}
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|
#[test]
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fn backproject_rejects_invalid_depth() {
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let intr = CameraIntrinsics {
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|
fx: 1.0, fy: 1.0, cx: 0.5, cy: 0.5,
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width: 2, height: 2,
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};
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// All pixels NaN → no points.
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|
let depth = vec![f32::NAN; 4];
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|
let cloud = backproject_depth(&depth, &intr, None, 1);
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|
assert_eq!(cloud.points.len(), 0);
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|
}
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|
}
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|
#[allow(dead_code)]
|
||||||
fn find_midas_model() -> Result<String> {
|
fn find_midas_model() -> Result<String> {
|
||||||
let paths = [
|
let paths = [
|
||||||
dirs::home_dir().unwrap_or_default().join(".local/share/ruview/midas_v21_small_256.onnx"),
|
dirs::home_dir().unwrap_or_default().join(".local/share/ruview/midas_v21_small_256.onnx"),
|
||||||
|
|
|
||||||
|
|
@ -1,5 +1,4 @@
|
||||||
//! Multi-modal fusion: camera depth + WiFi RF tomography → unified point cloud.
|
//! Multi-modal fusion: camera depth + WiFi RF tomography → unified point cloud.
|
||||||
#![allow(dead_code)]
|
|
||||||
|
|
||||||
use crate::pointcloud::{PointCloud, ColorPoint};
|
use crate::pointcloud::{PointCloud, ColorPoint};
|
||||||
use std::collections::HashMap;
|
use std::collections::HashMap;
|
||||||
|
|
@ -94,36 +93,6 @@ pub fn fuse_clouds(clouds: &[&PointCloud], voxel_size: f32) -> PointCloud {
|
||||||
fused
|
fused
|
||||||
}
|
}
|
||||||
|
|
||||||
/// Fetch WiFi occupancy from a remote RuView/brain endpoint.
|
|
||||||
pub async fn fetch_wifi_occupancy(url: &str) -> anyhow::Result<OccupancyVolume> {
|
|
||||||
let client = reqwest::Client::new();
|
|
||||||
let resp: serde_json::Value = client.get(url).send().await?.json().await?;
|
|
||||||
|
|
||||||
let nx = resp.get("nx").and_then(|v| v.as_u64()).unwrap_or(8) as usize;
|
|
||||||
let ny = resp.get("ny").and_then(|v| v.as_u64()).unwrap_or(8) as usize;
|
|
||||||
let nz = resp.get("nz").and_then(|v| v.as_u64()).unwrap_or(4) as usize;
|
|
||||||
|
|
||||||
let densities: Vec<f64> = resp.get("densities")
|
|
||||||
.and_then(|v| v.as_array())
|
|
||||||
.map(|arr| arr.iter().filter_map(|v| v.as_f64()).collect())
|
|
||||||
.unwrap_or_else(|| vec![0.0; nx * ny * nz]);
|
|
||||||
|
|
||||||
let bounds = resp.get("bounds")
|
|
||||||
.and_then(|v| v.as_array())
|
|
||||||
.map(|arr| {
|
|
||||||
let mut b = [0.0f64; 6];
|
|
||||||
for (i, v) in arr.iter().enumerate().take(6) {
|
|
||||||
b[i] = v.as_f64().unwrap_or(0.0);
|
|
||||||
}
|
|
||||||
b
|
|
||||||
})
|
|
||||||
.unwrap_or([0.0, 0.0, 0.0, 5.0, 5.0, 3.0]);
|
|
||||||
|
|
||||||
let occupied_count = densities.iter().filter(|&&d| d > 0.3).count();
|
|
||||||
|
|
||||||
Ok(OccupancyVolume { densities, nx, ny, nz, bounds, occupied_count })
|
|
||||||
}
|
|
||||||
|
|
||||||
/// Generate a demo occupancy volume (room with person).
|
/// Generate a demo occupancy volume (room with person).
|
||||||
pub fn demo_occupancy() -> OccupancyVolume {
|
pub fn demo_occupancy() -> OccupancyVolume {
|
||||||
let nx = 10;
|
let nx = 10;
|
||||||
|
|
@ -159,3 +128,36 @@ pub fn demo_occupancy() -> OccupancyVolume {
|
||||||
occupied_count,
|
occupied_count,
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
#[cfg(test)]
|
||||||
|
mod tests {
|
||||||
|
use super::*;
|
||||||
|
|
||||||
|
fn cloud_with(name: &str, pts: &[(f32, f32, f32)]) -> PointCloud {
|
||||||
|
let mut c = PointCloud::new(name);
|
||||||
|
for &(x, y, z) in pts {
|
||||||
|
c.points.push(ColorPoint { x, y, z, r: 10, g: 20, b: 30, intensity: 0.5 });
|
||||||
|
}
|
||||||
|
c
|
||||||
|
}
|
||||||
|
|
||||||
|
#[test]
|
||||||
|
fn fuse_clouds_merges_non_overlapping() {
|
||||||
|
let a = cloud_with("a", &[(0.0, 0.0, 0.0)]);
|
||||||
|
let b = cloud_with("b", &[(5.0, 5.0, 5.0)]);
|
||||||
|
let fused = fuse_clouds(&[&a, &b], 0.1);
|
||||||
|
assert_eq!(fused.points.len(), 2, "two far-apart points should yield two voxels");
|
||||||
|
}
|
||||||
|
|
||||||
|
#[test]
|
||||||
|
fn fuse_clouds_voxel_dedup() {
|
||||||
|
// Points all within one voxel must collapse to a single averaged point.
|
||||||
|
let a = cloud_with("a", &[
|
||||||
|
(0.01, 0.02, 0.03),
|
||||||
|
(0.04, 0.01, 0.02),
|
||||||
|
(0.03, 0.03, 0.01),
|
||||||
|
]);
|
||||||
|
let fused = fuse_clouds(&[&a], 0.5);
|
||||||
|
assert_eq!(fused.points.len(), 1, "three close points → one voxel");
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
|
||||||
|
|
@ -1,153 +0,0 @@
|
||||||
//! Serial CSI reader — parse ESP32 CSI data from /dev/ttyACM0 and /dev/ttyUSB0.
|
|
||||||
//!
|
|
||||||
//! ESP32 firmware outputs lines like:
|
|
||||||
//! I (56994) csi_collector: CSI cb #2900: len=256 rssi=-32 ch=5
|
|
||||||
//!
|
|
||||||
//! This module reads those lines, extracts RSSI, and tracks signal changes
|
|
||||||
//! to detect motion and presence.
|
|
||||||
|
|
||||||
use std::io::{BufRead, BufReader};
|
|
||||||
use std::sync::{Arc, Mutex};
|
|
||||||
|
|
||||||
#[derive(Clone, Debug)]
|
|
||||||
pub struct CsiReading {
|
|
||||||
pub port: String,
|
|
||||||
pub rssi: i32,
|
|
||||||
pub len: u32,
|
|
||||||
pub channel: u8,
|
|
||||||
pub callback_num: u64,
|
|
||||||
pub timestamp_ms: i64,
|
|
||||||
}
|
|
||||||
|
|
||||||
#[derive(Clone, Debug)]
|
|
||||||
pub struct CsiState {
|
|
||||||
/// Latest readings from each port
|
|
||||||
pub readings: Vec<CsiReading>,
|
|
||||||
/// RSSI history for motion detection (last 20 values per port)
|
|
||||||
pub rssi_history: Vec<Vec<i32>>,
|
|
||||||
/// Motion score (0.0 = still, 1.0 = strong motion)
|
|
||||||
pub motion_score: f32,
|
|
||||||
/// Estimated presence distance (from RSSI)
|
|
||||||
pub presence_distance_m: f32,
|
|
||||||
/// Total frames received
|
|
||||||
pub total_frames: u64,
|
|
||||||
}
|
|
||||||
|
|
||||||
impl Default for CsiState {
|
|
||||||
fn default() -> Self {
|
|
||||||
Self {
|
|
||||||
readings: Vec::new(),
|
|
||||||
rssi_history: Vec::new(),
|
|
||||||
motion_score: 0.0,
|
|
||||||
presence_distance_m: 3.0,
|
|
||||||
total_frames: 0,
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
/// Start reading CSI from serial ports in background threads.
|
|
||||||
/// Returns shared state that updates as frames arrive.
|
|
||||||
pub fn start_serial_readers(ports: &[&str]) -> Arc<Mutex<CsiState>> {
|
|
||||||
let state = Arc::new(Mutex::new(CsiState::default()));
|
|
||||||
|
|
||||||
for (idx, port) in ports.iter().enumerate() {
|
|
||||||
let port_path = port.to_string();
|
|
||||||
let st = state.clone();
|
|
||||||
|
|
||||||
std::thread::spawn(move || {
|
|
||||||
loop {
|
|
||||||
if let Ok(file) = std::fs::File::open(&port_path) {
|
|
||||||
let reader = BufReader::new(file);
|
|
||||||
for line in reader.lines() {
|
|
||||||
if let Ok(line) = line {
|
|
||||||
if let Some(reading) = parse_csi_line(&line, &port_path) {
|
|
||||||
update_state(&st, idx, reading);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
// Retry if port disconnects
|
|
||||||
std::thread::sleep(std::time::Duration::from_secs(2));
|
|
||||||
eprintln!(" CSI: reconnecting {port_path}...");
|
|
||||||
}
|
|
||||||
});
|
|
||||||
|
|
||||||
eprintln!(" CSI: reading {port}");
|
|
||||||
}
|
|
||||||
|
|
||||||
state
|
|
||||||
}
|
|
||||||
|
|
||||||
fn parse_csi_line(line: &str, port: &str) -> Option<CsiReading> {
|
|
||||||
// Parse: I (56994) csi_collector: CSI cb #2900: len=256 rssi=-32 ch=5
|
|
||||||
if !line.contains("csi_collector") || !line.contains("CSI cb") {
|
|
||||||
return None;
|
|
||||||
}
|
|
||||||
|
|
||||||
let rssi = line.split("rssi=").nth(1)?
|
|
||||||
.split_whitespace().next()?
|
|
||||||
.parse::<i32>().ok()?;
|
|
||||||
|
|
||||||
let len = line.split("len=").nth(1)?
|
|
||||||
.split_whitespace().next()?
|
|
||||||
.parse::<u32>().ok()?;
|
|
||||||
|
|
||||||
let channel = line.split("ch=").nth(1)?
|
|
||||||
.split_whitespace().next()
|
|
||||||
.unwrap_or("0")
|
|
||||||
.parse::<u8>().unwrap_or(0);
|
|
||||||
|
|
||||||
let cb_num = line.split('#').nth(1)?
|
|
||||||
.split(':').next()?
|
|
||||||
.parse::<u64>().ok()?;
|
|
||||||
|
|
||||||
Some(CsiReading {
|
|
||||||
port: port.to_string(),
|
|
||||||
rssi,
|
|
||||||
len,
|
|
||||||
channel,
|
|
||||||
callback_num: cb_num,
|
|
||||||
timestamp_ms: chrono::Utc::now().timestamp_millis(),
|
|
||||||
})
|
|
||||||
}
|
|
||||||
|
|
||||||
fn update_state(state: &Arc<Mutex<CsiState>>, port_idx: usize, reading: CsiReading) {
|
|
||||||
let mut st = state.lock().unwrap();
|
|
||||||
|
|
||||||
// Ensure vectors are big enough
|
|
||||||
while st.readings.len() <= port_idx {
|
|
||||||
st.readings.push(reading.clone());
|
|
||||||
st.rssi_history.push(Vec::new());
|
|
||||||
}
|
|
||||||
|
|
||||||
st.readings[port_idx] = reading.clone();
|
|
||||||
st.total_frames += 1;
|
|
||||||
|
|
||||||
// Track RSSI history
|
|
||||||
let hist = &mut st.rssi_history[port_idx];
|
|
||||||
hist.push(reading.rssi);
|
|
||||||
if hist.len() > 20 { hist.remove(0); }
|
|
||||||
|
|
||||||
// Motion detection: RSSI variance over last 20 readings
|
|
||||||
if hist.len() >= 5 {
|
|
||||||
let mean: f32 = hist.iter().map(|&r| r as f32).sum::<f32>() / hist.len() as f32;
|
|
||||||
let variance: f32 = hist.iter().map(|&r| (r as f32 - mean).powi(2)).sum::<f32>() / hist.len() as f32;
|
|
||||||
// High variance = motion (someone moving changes signal reflections)
|
|
||||||
st.motion_score = (variance / 50.0).min(1.0); // normalize: variance of 50 = full motion
|
|
||||||
}
|
|
||||||
|
|
||||||
// Estimate presence distance from RSSI (path loss model)
|
|
||||||
// Free space: RSSI = -10 * n * log10(d) + A
|
|
||||||
// n ≈ 2.5 for indoor, A ≈ -30 (1m reference)
|
|
||||||
let avg_rssi: f32 = st.readings.iter().map(|r| r.rssi as f32).sum::<f32>()
|
|
||||||
/ st.readings.len().max(1) as f32;
|
|
||||||
let d = 10.0f32.powf((-30.0 - avg_rssi) / (10.0 * 2.5));
|
|
||||||
st.presence_distance_m = d.clamp(0.3, 10.0);
|
|
||||||
}
|
|
||||||
|
|
||||||
/// Convert CSI state to occupancy influence on the point cloud.
|
|
||||||
/// Returns (motion_score, presence_distance, total_frames).
|
|
||||||
pub fn get_csi_influence(state: &Arc<Mutex<CsiState>>) -> (f32, f32, u64) {
|
|
||||||
let st = state.lock().unwrap();
|
|
||||||
(st.motion_score, st.presence_distance_m, st.total_frames)
|
|
||||||
}
|
|
||||||
|
|
@ -458,3 +458,40 @@ pub struct PreferencePair {
|
||||||
pub chosen: String,
|
pub chosen: String,
|
||||||
pub rejected: String,
|
pub rejected: String,
|
||||||
}
|
}
|
||||||
|
|
||||||
|
#[cfg(test)]
|
||||||
|
mod tests {
|
||||||
|
use super::*;
|
||||||
|
|
||||||
|
#[test]
|
||||||
|
fn sanitize_rejects_parent_dir_traversal() {
|
||||||
|
assert!(sanitize_data_path("../etc/passwd").is_err());
|
||||||
|
assert!(sanitize_data_path("foo/../bar").is_err());
|
||||||
|
assert!(sanitize_data_path("/tmp/.. /evil").is_ok(), "`.. ` is not ParentDir");
|
||||||
|
}
|
||||||
|
|
||||||
|
#[test]
|
||||||
|
fn sanitize_accepts_relative_child() {
|
||||||
|
assert!(sanitize_data_path("data/ruview").is_ok());
|
||||||
|
assert!(sanitize_data_path("./foo").is_ok());
|
||||||
|
}
|
||||||
|
|
||||||
|
#[test]
|
||||||
|
fn training_session_new_rejects_traversal() {
|
||||||
|
// Even if the filesystem has such a path, TrainingSession should refuse.
|
||||||
|
let err = TrainingSession::new("../etc/passwd").err();
|
||||||
|
assert!(err.is_some(), "traversal path must be rejected");
|
||||||
|
}
|
||||||
|
|
||||||
|
#[test]
|
||||||
|
fn training_session_new_accepts_child_path() {
|
||||||
|
// Use a unique tmpdir to avoid cross-test interference.
|
||||||
|
let tmp = std::env::temp_dir().join(format!("ruview-train-test-{}", std::process::id()));
|
||||||
|
let _ = std::fs::remove_dir_all(&tmp);
|
||||||
|
let sess = TrainingSession::new(tmp.to_str().unwrap())
|
||||||
|
.expect("TrainingSession should accept a clean tmpdir");
|
||||||
|
// data_dir should have been canonicalised to an absolute path.
|
||||||
|
assert!(sess.data_dir.is_absolute());
|
||||||
|
let _ = std::fs::remove_dir_all(&tmp);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
|
||||||
Loading…
Reference in New Issue